技术领域technical field
本发明涉及履带式车辆仿真领域，特别是涉及一种精细化履带车辆仿真平台及其构建方法。The invention relates to the field of crawler vehicle simulation, in particular to a refined crawler vehicle simulation platform and a construction method thereof.
背景技术Background technique
目前，履带车辆在越野道路上具有良好的通过性、机动性，因此广泛运用于采矿挖掘、运输援助、搜索勘探、环境监测等诸多行业。随着履带车辆向无人化、智能化方向发展，新型履带车辆的快速开发逐步依赖于动力学仿真平台。高精度履带车辆动力学仿真平台不仅是研究典型场景下决策规划算法合理性的测试基础，也是新型高性能无人装备快速设计、极端工况先进控制算法开发的重要参考。At present, tracked vehicles have good passability and mobility on off-road roads, so they are widely used in many industries such as mining excavation, transportation assistance, search and exploration, and environmental monitoring. With the development of tracked vehicles in the direction of unmanned and intelligent, the rapid development of new tracked vehicles gradually depends on the dynamics simulation platform. The high-precision tracked vehicle dynamics simulation platform is not only the test basis for studying the rationality of decision-making planning algorithms in typical scenarios, but also an important reference for the rapid design of new high-performance unmanned equipment and the development of advanced control algorithms for extreme working conditions.
然而，现有的文献中搭建的车辆动力学模型，在搭建过程中通常采用整车建模的方法来搭建模型，而往往忽略了履带链的重要性，使得搭建的模型精细化程度较低。However, the vehicle dynamics models built in the existing literature usually use the method of whole vehicle modeling to build the model in the process of building the model, and often ignore the importance of the track chain, making the model built with a low degree of refinement.
发明内容Contents of the invention
本发明的目的是提供一种建模精细化程度高的精细化履带车辆仿真平台及其构建方法。The purpose of the present invention is to provide a refined crawler vehicle simulation platform with a high degree of modeling refinement and a construction method thereof.
为实现上述目的，本发明提供了如下方案：To achieve the above object, the present invention provides the following scheme:
本发明提供了一种精细化履带车辆仿真平台的构建方法，包括：The invention provides a method for constructing a refined crawler vehicle simulation platform, comprising:
获取履带式车辆的动力学参数以及空间位置坐标参数；所述动力学参数包括履带板动力学参数、车身壳体动力学参数以及履带车轮动力学参数；所述动力学参数用于计算所述履带式车辆的运动加速度；所述空间位置坐标参数包括履带板坐标参数、车身壳体坐标参数和履带车轮坐标参数；Obtain dynamic parameters and spatial position coordinate parameters of the tracked vehicle; the dynamic parameters include track shoe dynamic parameters, vehicle body shell dynamic parameters and track wheel dynamic parameters; the dynamic parameters are used to calculate the track The motion acceleration of type vehicle; Described space position coordinate parameter comprises track shoe coordinate parameter, vehicle body shell coordinate parameter and crawler wheel coordinate parameter;
根据所述履带板动力学参数以及所述履带板坐标参数，基于多刚体动力学方程，确定所述履带式车辆的履带链模型；所述履带链模型为履带链的空间三维运动的动力学模型；According to the track shoe dynamic parameters and the track shoe coordinate parameters, based on the multi-rigid body dynamic equation, determine the track chain model of the tracked vehicle; the track chain model is a dynamic model of the space three-dimensional motion of the track chain ;
根据所述车身壳体动力学参数、所述履带车轮动力学参数、所述车身壳体坐标参数以及所述履带车轮坐标参数，基于多刚体动力学方程，确定所述履带式车辆的车身模型；所述车身模型为车身的空间三维运动动力学模型；Determine the body model of the tracked vehicle based on the multi-rigid body dynamics equation according to the dynamic parameters of the body shell, the dynamic parameters of the tracked wheels, the coordinate parameters of the body shell, and the coordinate parameters of the track wheels; The vehicle body model is a space three-dimensional motion dynamics model of the vehicle body;
根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆的加速度以及下一时刻所述履带式车辆的速度和空间位置；According to the crawler chain model and the vehicle body model, determine the acceleration of the crawler vehicle at the target moment and the speed and spatial position of the crawler vehicle at the next moment;
基于虚幻引擎，对所述履带式车辆的履带式车辆模型进行可视化展示。Based on Unreal Engine, the tracked vehicle model of the tracked vehicle is visualized.
可选的，所述根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆的加速度以及下一时刻所述履带式车辆的速度和空间位置，具体包括：Optionally, according to the track chain model and the vehicle body model, determining the acceleration of the tracked vehicle at the target moment and the speed and spatial position of the tracked vehicle at the next moment, specifically includes:
将所述目标时刻下履带式车辆的履带板动力学参数输入至履带链模型，确定所述履带式车辆模型中履带链的加速度；Inputting the track shoe dynamic parameters of the tracked vehicle under the target moment into the track chain model to determine the acceleration of the track chain in the tracked vehicle model;
将所述目标时刻下履带式车辆的车身动力学参数输入至车身模型，确定所述履带式车辆模型中车身的加速度；Inputting the body dynamics parameters of the tracked vehicle at the target moment into the body model to determine the acceleration of the body in the tracked vehicle model;
基于Runge-Kutta方法，对所述履带链的加速度和所述车身的加速度进行积分，确定所述履带式车辆下一时刻的速度和空间位置。Based on the Runge-Kutta method, the acceleration of the crawler chain and the acceleration of the vehicle body are integrated to determine the speed and spatial position of the crawler vehicle at the next moment.
可选的，所述将所述目标时刻下履带式车辆的履带板动力学参数输入至履带链模型，确定所述履带式车辆模型中履带链的加速度，具体包括：Optionally, the input of the dynamic parameters of the track shoes of the tracked vehicle at the target moment into the track chain model to determine the acceleration of the track chain in the tracked vehicle model specifically includes:
根据目标时刻所述履带式车辆的速度以及空间位置，确定所述目标时刻下履带式车辆中的履带链与车身的接触点相对速度；According to the speed and spatial position of the tracked vehicle at the target moment, determine the relative speed of the contact point between the crawler chain and the vehicle body in the tracked vehicle at the target moment;
根据所述接触点相对速度，确定所述车身的外部受力；determining the external force of the vehicle body according to the relative speed of the contact point;
根据所述目标时刻履带链的外部受力、所述履带式车辆的速度以及所述履带式车辆的空间位置，基于所述履带链模型，确定所述目标时刻所述履带链的加速度。Based on the crawler chain model, the acceleration of the crawler chain at the target time is determined according to the external force of the crawler chain at the target time, the speed of the tracked vehicle, and the spatial position of the tracked vehicle.
可选的，所述将所述目标时刻下履带式车辆的车身动力学参数输入至车身模型，确定所述履带式车辆模型中车身的加速度，具体包括：Optionally, the input of the body dynamic parameters of the tracked vehicle at the target moment into the body model to determine the acceleration of the body in the tracked vehicle model specifically includes:
根据目标时刻所述履带式车辆的速度以及空间位置，确定所述目标时刻下履带式车辆中的所述履带链与地面的触地点相对速度；According to the speed and spatial position of the tracked vehicle at the target time, determine the relative speed of the track chain in the tracked vehicle at the target time and the touch point of the ground;
根据所述触地点相对速度，确定所述履带链的外部受力；determining the external force of the crawler chain according to the relative speed of the touchdown point;
根据所述目标时刻车身的外部受力、所述履带式车辆的速度以及所述履带式车辆的空间位置，基于所述车身模型，确定所述目标时刻车身的加速度。According to the external force of the vehicle body at the target time, the speed of the tracked vehicle, and the spatial position of the tracked vehicle, based on the vehicle body model, the acceleration of the vehicle body at the target time is determined.
可选的，所述动力学参数包括：履带板、车身壳体以及履带车轮各自的质量、惯量、刚度、阻尼和初始速度。Optionally, the dynamic parameters include: respective mass, inertia, stiffness, damping and initial speed of the track shoe, the body shell and the track wheel.
可选的，所述履带板坐标参数包括履带板的质心空间位置坐标以及所述履带板的欧拉角。Optionally, the track shoe coordinate parameters include the space position coordinates of the center of mass of the track shoe and the Euler angle of the track shoe.
可选的，所述车身空间位置参数包括车身壳体的车体质心位置坐标、车身车轮与车体的旋转角度和初始速度。Optionally, the space position parameters of the vehicle body include position coordinates of the center of mass of the vehicle body shell, rotation angles and initial speeds of the wheels of the vehicle body and the vehicle body.
可选的，所述履带链模型，具体如下：Optionally, the crawler chain model is as follows:
； ;
其中，，/>，/>，/>为广义质量矩阵；/>为平动加速度，/>为旋转角加速度；/>为约束Jacobian矩阵；/>为拉格朗日乘子；/>为广义的外部作用力；/>为欧拉方程产生二次速度矢量；/>为第i个履带板的角速度在连体坐标系下的坐标；/>是惯性张量。in, , /> , /> , /> is the generalized mass matrix; /> is the translational acceleration, /> is the rotational angular acceleration; /> is the constraint Jacobian matrix; /> is the Lagrangian multiplier; /> is the generalized external force; /> Generates a quadratic velocity vector for Euler's equation; /> is the coordinate of the angular velocity of the i-th track shoe in the connected coordinate system; /> is the inertia tensor.
可选的，所述车身模型，具体如下：Optionally, the body model is as follows:
； ;
其中，为关系矩阵，/>为广义质量矩阵，由第i个部件的质量矩阵/>和其惯性张量/>组成；/>是广义的外部作用力；/>是欧拉方程产生二次速度矢量，/>，，/>为各部件的平动速度矢量，/>，为/>的导数，/>为旋转角速度矢量。in, is the relationship matrix, /> is the generalized mass matrix, by the mass matrix of the i-th component /> and its inertia tensor /> Composition; /> is a generalized external force; /> is the Euler equation that produces the quadratic velocity vector, /> , , /> is the translation velocity vector of each component, /> , for /> derivative of is the rotational angular velocity vector.
本发明还提供了一种精细化履带车辆仿真平台，包括：The present invention also provides a refined crawler vehicle simulation platform, comprising:
参数获取模块，用于获取履带式车辆的动力学参数以及空间位置坐标参数；所述动力学参数包括履带板动力学参数、车身壳体动力学参数以及履带车轮动力学参数；所述动力学参数用于计算所述履带式车辆的运动加速度；所述空间位置坐标参数包括履带板坐标参数、车身壳体坐标参数和履带车轮坐标参数；The parameter acquisition module is used to acquire dynamic parameters and spatial position coordinate parameters of the tracked vehicle; the dynamic parameters include track shoe dynamic parameters, vehicle body shell dynamic parameters and track wheel dynamic parameters; the dynamic parameters It is used to calculate the motion acceleration of the tracked vehicle; the space position coordinate parameters include track shoe coordinate parameters, vehicle body shell coordinate parameters and track wheel coordinate parameters;
履带链模型构建模块，用于根据所述履带板动力学参数以及所述履带板坐标参数，基于刚体动力学方程，确定所述履带式车辆的履带链模型；所述履带链模型为履带链的空间三维运动的动力学模型；The track chain model building module is used to determine the track chain model of the tracked vehicle based on the rigid body dynamics equation according to the track shoe dynamic parameters and the track shoe coordinate parameters; the track chain model is the track chain model Dynamic model of three-dimensional motion in space;
车身模型构建模块，用于根据所述车身壳体动力学参数、所述履带车轮动力学参数、所述车身壳体坐标参数以及所述履带车轮坐标参数，基于刚体动力学方程，确定所述履带式车辆的车身模型；所述车身模型为所述履带式车辆车身的空间三维运动的动力学模型；a vehicle body model building module, configured to determine the crawler track based on rigid body dynamics equations according to the body shell dynamic parameters, the track wheel dynamic parameters, the body shell coordinate parameters, and the track wheel coordinate parameters The vehicle body model of crawler vehicle; Described vehicle body model is the dynamics model of the space three-dimensional movement of described tracked vehicle vehicle body;
模型计算模块，用于根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆模型的加速度以及下一时刻所述履带式车辆模型的速度和空间位置；A model calculation module, used to determine the acceleration of the tracked vehicle model at the target moment and the speed and spatial position of the tracked vehicle model at the next moment according to the track chain model and the vehicle body model;
可视化模块，用于基于虚幻引擎，对所述履带式车辆模型进行可视化展示。The visualization module is used for visually displaying the tracked vehicle model based on Unreal Engine.
根据本发明提供的具体实施例，本发明公开了以下技术效果：According to the specific embodiments provided by the invention, the invention discloses the following technical effects:
本发明提供了一种精细化履带车辆仿真平台及其构建方法，包括：首先获取履带式车辆的动力学参数以及空间位置坐标参数；动力学参数包括履带板动力学参数、车身壳体动力学参数以及履带车轮动力学参数；动力学参数用于计算履带式车辆的运动加速度；空间位置坐标参数包括履带板坐标参数、车身壳体坐标参数和履带车轮坐标参数；然后根据履带板动力学参数以及履带板坐标参数，基于刚体动力学方程，确定履带式车辆的履带链模型；履带链模型为履带链的空间三维运动的动力学模型；再根据车身壳体动力学参数、履带车轮动力学参数、车身壳体坐标参数以及履带车轮坐标参数，基于刚体动力学方程，确定履带式车辆的车身模型；车身模型为车身的空间三维运动动力学模型；最后根据履带链模型和车身模型，确定目标时刻下履带式车辆模型的加速度以及下一时刻履带式车辆模型的速度和空间位置，并基于虚幻引擎，对所述履带式车辆模型进行可视化展示。本发明在进行履带式车辆的建模过程中，着重考虑了车辆中履带链模型的建立，通过每一个履带板运动学参数来计算履带链的运动，使得履带链模型的精细化程度提高；并且在计算履带式车辆模型的加速度和下一时刻的速度与位置时，通过履带链模型和车身模型来分别计算履带链和车身的加速度和下一时刻的速度与位置，使得可视化后的履带式车辆模型的精细化程度提高。The present invention provides a refined tracked vehicle simulation platform and its construction method, comprising: first obtaining the dynamic parameters and spatial position coordinate parameters of the tracked vehicle; the dynamic parameters include track shoe dynamic parameters, vehicle body shell dynamic parameters And track wheel dynamic parameters; dynamic parameters are used to calculate the motion acceleration of tracked vehicles; space position coordinate parameters include track shoe coordinate parameters, body shell coordinate parameters and track wheel coordinate parameters; then according to track shoe dynamic parameters and track Plate coordinate parameters, based on the rigid body dynamics equation, determine the track chain model of the tracked vehicle; the track chain model is the dynamic model of the space three-dimensional motion of the track chain; then according to the body shell dynamic parameters, track wheel dynamic parameters, body Shell coordinate parameters and track wheel coordinate parameters, based on the rigid body dynamics equation, determine the body model of the tracked vehicle; Acceleration of the tracked vehicle model and the speed and spatial position of the tracked vehicle model at the next moment, and based on Unreal Engine, the tracked vehicle model is visualized. In the modeling process of the tracked vehicle, the present invention focuses on the establishment of the track chain model in the vehicle, and calculates the movement of the track chain through each track shoe kinematics parameter, so that the refinement of the track chain model is improved; and When calculating the acceleration of the tracked vehicle model and the speed and position at the next moment, the acceleration of the track chain and the body and the speed and position at the next moment are calculated respectively through the track chain model and the body model, so that the visualized tracked vehicle The refinement of the model is improved.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings required in the embodiments. Obviously, the accompanying drawings in the following description are only some of the present invention. Embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without paying creative labor.
图1为本发明实施例提供的履带车辆仿真平台的构建方法示意图；Fig. 1 is the schematic diagram of the construction method of the tracked vehicle simulation platform provided by the embodiment of the present invention;
图2为本发明实施例提供的空间三维转动示意图；Fig. 2 is a schematic diagram of a three-dimensional rotation in space provided by an embodiment of the present invention;
图3为本发明实施例提供的模型计算模块计算流程图。Fig. 3 is a calculation flowchart of the model calculation module provided by the embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明的目的是提供一种建模精细化程度高的精细化履带式车辆仿真平台及其构建方法。The purpose of the present invention is to provide a refined crawler vehicle simulation platform with a high degree of modeling refinement and a construction method thereof.
为使本发明的上述目的、特征和优点能够更加明显易懂，下面结合附图和具体实施方式对本发明作进一步详细的说明。In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
如图1所示，本发明提供了一种精细化履带车辆仿真平台的构建方法，包括：As shown in Figure 1, the present invention provides a method for constructing a refined tracked vehicle simulation platform, including:
步骤1：获取履带式车辆的动力学参数以及空间位置坐标参数；所述动力学参数包括履带板动力学参数、车身壳体动力学参数以及履带车轮动力学参数；所述动力学参数用于计算所述履带式车辆的运动加速度；所述空间位置坐标参数包括履带板坐标参数、车身壳体坐标参数和履带车轮坐标参数。Step 1: Obtain the dynamic parameters and spatial position coordinate parameters of the tracked vehicle; the dynamic parameters include the dynamic parameters of the track shoes, the dynamic parameters of the body shell and the dynamic parameters of the track wheels; the dynamic parameters are used to calculate The motion acceleration of the tracked vehicle; the space position coordinate parameters include track shoe coordinate parameters, vehicle body shell coordinate parameters and track wheel coordinate parameters.
步骤2：根据所述履带板动力学参数以及所述履带板坐标参数，基于刚体动力学方程，确定所述履带式车辆的履带链模型；所述履带链模型为履带链的空间三维运动的动力学模型。Step 2: Determine the track chain model of the tracked vehicle based on the dynamic parameters of the track shoe and the coordinate parameters of the track shoe based on the rigid body dynamic equation; the track chain model is the dynamic force of the three-dimensional movement of the track chain learning model.
步骤3：根据所述车身壳体动力学参数、所述履带车轮动力学参数、所述车身壳体坐标参数以及所述履带车轮坐标参数，基于刚体动力学方程，确定所述履带式车辆的车身模型；所述车身模型为车身的空间三维运动动力学模型。Step 3: According to the dynamic parameters of the body shell, the dynamic parameters of the track wheels, the coordinate parameters of the body shell and the coordinate parameters of the track wheels, and based on the rigid body dynamics equation, determine the body of the tracked vehicle Model; the vehicle body model is a three-dimensional motion dynamics model of the vehicle body.
步骤4：根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆模型的加速度以及下一时刻所述履带式车辆模型的速度和空间位置。Step 4: According to the crawler chain model and the vehicle body model, determine the acceleration of the crawler vehicle model at the target moment and the speed and spatial position of the crawler vehicle model at the next moment.
步骤5：基于虚幻引擎，对所述履带式车辆模型进行可视化展示。Step 5: Visually display the tracked vehicle model based on Unreal Engine.
在一些实施例中，在构建履带链动力学模型时，履带板动力学参数为上一时刻履带链的速度和位置以及当前时刻履带链的受力。所以在一些情况下，根据所述履带板动力学参数以及所述履带板坐标参数，基于多刚体动力学方程，确定所述履带式车辆的履带链模型，也可以理解为，根据履带链的受力以及履带板的速度和位置构建所述履带链的空间三维运动的动力学模型，所述履带链的受力由相接触物件对所述履带链产生的力确定；所述相接触物件，为与所述履带链相接触的物件，包括负重轮、主动轮、支撑轮、诱导轮以及地面；所述履带链的动力学模型用于根据上一时刻履带链的速度和位置以及当前时刻的受力确定当前时刻的速度和位置。In some embodiments, when constructing the dynamic model of the crawler chain, the dynamic parameters of the track shoe are the speed and position of the crawler chain at the last moment and the force of the crawler chain at the current moment. Therefore, in some cases, the crawler chain model of the tracked vehicle is determined based on the dynamic parameters of the track shoe and the coordinate parameters of the track shoe based on the multi-rigid body dynamic equation. Force and the speed and position of track shoes construct the dynamic model of the space three-dimensional movement of described crawler chain, and the stressed force of described crawler chain is determined by the force that contacting object produces to described crawler chain; Described contacting object, is Objects in contact with the crawler chain include load wheels, driving wheels, support wheels, induction wheels and the ground; the dynamic model of the crawler chain is used to Force determines velocity and position at the current moment.
在一些实施例中，在构建车身的动力学模型（车身模型）时，所述车身壳体动力学参数、所述履带车轮动力学参数、所述车身壳体坐标参数以及所述履带车轮坐标参数为上一时刻车身的速度和位置以及当前时刻车身的受力。所以在一些情况下，车身模型可以根据车身的受力以及车身的速度和位置构建。具体的，所述车身的受力由履带链对所述车身产生的力确定；所述车身的空间三维运动的动力学模型用于根据上一时刻车身的速度和位置以及当前时刻车身的受力确定当前时刻的速度和位置。In some embodiments, when constructing the dynamic model of the vehicle body (body model), the dynamic parameters of the vehicle body shell, the dynamic parameters of the track wheels, the coordinate parameters of the body shell and the coordinate parameters of the track wheels is the speed and position of the body at the last moment and the force on the body at the current moment. So in some cases, the body model can be constructed according to the forces on the body and the speed and position of the body. Specifically, the force of the vehicle body is determined by the force generated by the crawler chain on the vehicle body; the dynamic model of the space three-dimensional motion of the vehicle body is used to Determine the velocity and position at the current moment.
在一些实施例中，根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆模型的加速度以及下一时刻所述履带式车辆模型的速度和空间位置，具体可以包括：In some embodiments, according to the crawler chain model and the vehicle body model, determining the acceleration of the crawler vehicle model at the target moment and the speed and spatial position of the crawler vehicle model at the next moment may specifically include:
将所述目标时刻下履带式车辆模型的履带板动力学参数输入至履带链模型，确定所述履带式车辆模型中履带链的加速度。Inputting the dynamic parameters of the track shoes of the tracked vehicle model at the target moment into the track chain model to determine the acceleration of the track chain in the tracked vehicle model.
将所述目标时刻下履带式车辆模型的车身动力学参数输入至车身模型，确定所述履带式车辆模型中车身的加速度。Inputting the body dynamic parameters of the tracked vehicle model at the target moment into the body model to determine the acceleration of the body in the tracked vehicle model.
基于Runge-Kutta方法，对所述履带链的加速度和所述车身的加速度进行积分，确定所述履带式车辆模型下一时刻的速度和空间位置。Based on the Runge-Kutta method, the acceleration of the crawler chain and the acceleration of the vehicle body are integrated to determine the speed and spatial position of the crawler vehicle model at the next moment.
其中，将所述目标时刻下履带式车辆模型的履带板动力学参数输入至履带链模型，确定所述履带式车辆的加速度，具体可以包括：Wherein, inputting the track shoe dynamic parameters of the tracked vehicle model at the target moment into the track chain model to determine the acceleration of the tracked vehicle may specifically include:
根据目标时刻所述履带式车辆的速度以及空间位置，确定所述目标时刻下履带式车辆中的履带链与车身的接触点相对速度。According to the speed and spatial position of the tracked vehicle at the target time, the relative speed of the contact point between the crawler chain and the vehicle body in the tracked vehicle at the target time is determined.
根据所述接触点相对速度，确定所述车身的外部受力。According to the relative speed of the contact point, the external force of the vehicle body is determined.
根据所述目标时刻履带链的外部受力、所述履带式车辆的速度以及所述履带式车辆的空间位置，基于所述履带链模型，确定所述目标时刻所述履带链的加速度。Based on the crawler chain model, the acceleration of the crawler chain at the target time is determined according to the external force of the crawler chain at the target time, the speed of the tracked vehicle, and the spatial position of the tracked vehicle.
其中，将所述目标时刻下履带式车辆模型的车身动力学参数输入至车身模型，确定所述履带式车辆的加速度，具体可以包括：Wherein, inputting the body dynamic parameters of the tracked vehicle model at the target moment into the body model to determine the acceleration of the tracked vehicle may specifically include:
根据目标时刻所述履带式车辆的速度以及空间位置，确定所述目标时刻下履带式车辆中的所述履带链与地面的触地点相对速度。According to the speed and spatial position of the tracked vehicle at the target time, the relative speed of the touch point of the crawler chain in the tracked vehicle and the ground at the target time is determined.
根据所述触地点相对速度，确定所述履带链的外部受力。According to the relative speed of the contact point, the external force of the crawler chain is determined.
根据所述目标时刻车身的外部受力、所述履带式车辆的速度以及所述履带式车辆的空间位置，基于所述车身模型，确定所述目标时刻车身的加速度。According to the external force of the vehicle body at the target time, the speed of the tracked vehicle, and the spatial position of the tracked vehicle, based on the vehicle body model, the acceleration of the vehicle body at the target time is determined.
在一些实施例中，建立履带链模型时，需要构建履带链的空间三维运动模型，具体可以如下：In some embodiments, when establishing a crawler chain model, it is necessary to construct a spatial three-dimensional motion model of the crawler chain, which may be as follows:
为准确描述空间三维转动，本发明引入欧拉角，同时为了避免计算过程中欧拉角奇异点的产生，这里旋转顺序为先绕Z轴旋转角，再绕X轴旋转/>角，最后绕Y轴旋转/>角，具体如附图2所示，此旋转顺序奇异点发生于/>时，对应于实际情况下车体侧倾90度，此情况不在考虑范围内，故可避免计算过程中奇异点的产生。In order to accurately describe the three-dimensional rotation of space, the present invention introduces Euler angles, and at the same time, in order to avoid the occurrence of singular points of Euler angles in the calculation process, the rotation order here is to first rotate around the Z axis Angle, then rotate around the X axis /> angle, and finally rotate around the Y axis /> Angle, as shown in Figure 2, the singular point of this rotation sequence occurs at /> , corresponding to the actual vehicle body roll of 90 degrees, this situation is not considered, so the occurrence of singular points in the calculation process can be avoided.
在本实施例中，根据所述履带板动力学参数以及所述履带板坐标参数，基于多刚体动力学方程，确定所述履带式车辆的履带链模型，具体可以如下：In this embodiment, according to the track shoe dynamic parameters and the track shoe coordinate parameters, based on the multi-rigid body dynamic equation, the track chain model of the tracked vehicle is determined, specifically as follows:
根据输入的履带板的空间位置参数（履带板的质心位置），可以得到当前时刻履带板的空间位置。为了计算每一时刻的速度，需要通过前一时刻的加速度进行积分得到。而加速度，则需要列写动力学微分方程，采用牛顿-欧拉方程对于每一块履带板的运动进行描述，具体可以如下：According to the input spatial position parameters of the track shoes (the position of the center of mass of the track shoes), the spatial position of the track shoes at the current moment can be obtained. In order to calculate the speed at each moment, it needs to be obtained by integrating the acceleration at the previous moment. As for the acceleration, the dynamic differential equation needs to be listed, and the Newton-Euler equation is used to describe the motion of each track shoe. The details can be as follows:
。 .
式中，，/>，/>；/>为广义质量矩阵；/>与/>分别为平动加速度与旋转角加速度；/>为约束Jacobian矩阵；/>为拉格朗日乘子；/>为广义的外部作用力，由前述分析计算出；/>为欧拉方程产生二次速度矢量；/>为i号履带板的角速度在连体坐标系下的坐标；/>为惯性张量。由于式中引入了拉格朗日乘子/>，导致增加了方程未知量个数，因此，需要补充约束方程对整体动力学方程进行求解，对于多体系统，若其约束与时间无关，其约束方程能写成如下形式：In the formula, , /> , /> ;/> is the generalized mass matrix; /> with /> are translational acceleration and rotational angular acceleration respectively; /> is the constraint Jacobian matrix; /> is the Lagrangian multiplier; /> is a generalized external force, calculated from the above analysis; /> Generates a quadratic velocity vector for Euler's equation; /> is the coordinate of the angular velocity of the i track shoe in the connected coordinate system; /> is the inertia tensor. Since the Lagrangian multiplier/> is introduced in the formula , resulting in an increase in the number of unknowns in the equation. Therefore, it is necessary to supplement the constraint equation to solve the overall dynamic equation. For a multi-body system, if the constraint has nothing to do with time, the constraint equation can be written in the following form:
。 .
式中是约束方程函数，/>是笛卡尔坐标下的广义坐标，/>对时间的一阶导与二阶导形式如下：In the formula is the constraint equation function, /> is the generalized coordinate in Cartesian coordinates, /> The first and second derivatives with respect to time are as follows:
。 .
。 .
。 .
式中与/>是平动速度与旋转角速度；/>由/>求出。In the formula with /> is the translational velocity and rotational angular velocity; /> by /> Find out.
对式求导得到：Pair Derived to get:
。 .
式中为多体系统的约束Jacobian矩阵，对/>求导，整理后得到：In the formula is the constrained Jacobian matrix of the multi-body system, for /> Derivation, after sorting, we get:
。 .
令，则有：/>。make , then there is: /> .
将上述约束方程与牛顿-欧拉方程进行联立，则可以得到整条履带链的动力学方程，如下式所示：Combining the above constraint equations with the Newton-Euler equation, the dynamic equation of the entire crawler chain can be obtained, as shown in the following formula:
。 .
式中是多体系统的广义质量矩阵，/>是作用在多体系统上的广义外部作用力，是多体系统每个部件的二次速度矢量，其满足下式：In the formula is the generalized mass matrix of the many-body system, /> is the generalized external force acting on the multibody system, is the quadratic velocity vector of each component of the multibody system, which satisfies the following formula:
。 .
由上述方程则可以得到每一时刻履带板的加速度，然而求解方程的前提条件则是需要知道当前时刻的力，故需要对履带链进行受力分析。The acceleration of the track shoe at each moment can be obtained from the above equation. However, the prerequisite for solving the equation is that the force at the current moment needs to be known, so the force analysis of the track chain is required.
具体的，履带链是由若干个履带板通过销连接组成的，每个履带板之间的约束均相同。在履带板上方，有导向板位于负重轮、支撑轮、诱导轮之间，用于履带链的侧向固定。在履带板下方，有履刺，可增大地面提供的驱动力。履带板与各个轮面相接触，通过法向接触力将整体履带链张紧。在车辆运动过程中，主动轮通过齿面推动履带销，从而带动整体履带链的转动，进而地面产生驱动力，使整车产生运动。与履带链相接触的部件包括负重轮、主动轮、支撑轮、诱导轮和地面。理解履带链的组成和作用有助于准确理解履带车辆的运动原理，是进行履带车辆仿真和设计的基础。Specifically, the track chain is composed of several track shoes connected by pins, and the constraints between each track shoe are the same. Above the track shoe, there is a guide plate located between the road wheel, support wheel and idler wheel, which is used for lateral fixing of the track chain. Under the track shoes, there are spurs, which can increase the driving force provided by the ground. The track shoe is in contact with each wheel surface, and the whole track chain is tensioned by the normal contact force. During the movement of the vehicle, the driving wheel pushes the track pin through the tooth surface, thereby driving the rotation of the whole track chain, and then the ground generates driving force to make the whole vehicle move. The parts in contact with the track chain include road wheels, drive wheels, support wheels, idlers and the ground. Understanding the composition and function of the track chain is helpful to accurately understand the motion principle of the tracked vehicle, and is the basis for the simulation and design of the tracked vehicle.
其中与各个轮的接触可以通过当前时刻的空间位置、速度计算出履带板上的接触点的法向渗透率以及法向速度，随后采用下式进行计算：The contact with each wheel can calculate the normal permeability and normal velocity of the contact point on the track plate through the current spatial position and speed, and then use the following formula to calculate:
。 .
。 .
式中为法向力矢量；/>为刚性系数；/>为渗透率的导数；/>为力指数；/>为阻尼系数；/>为接触面法向方向单位矢量；/>为切向力矢量；/>为履带板与地面的摩擦系数；/>为接触面切向单位矢量，其方向与相对速度在接触面上的投影方向相同。In the formula is the normal force vector; /> is the rigidity coefficient; /> is the derivative of permeability; /> power index; /> is the damping coefficient; /> is the unit vector in the normal direction of the contact surface; /> is the tangential force vector; /> is the coefficient of friction between the track shoe and the ground; /> is the tangential unit vector of the contact surface, and its direction is the same as the projection direction of the relative velocity on the contact surface.
与地面的接触可以根据地面特性进行选择，一般的硬质地面，可以采用与各个轮接触相同的处理方法，采用上式进行计算。对于软土地面，可以通过空间位置计算出沉陷量，随后采用Bekker沉陷公式以及Janosi剪切公式进行剪切应力的计算，如下式所示：The contact with the ground can be selected according to the characteristics of the ground. For general hard ground, the same treatment method as the contact with each wheel can be used, and the above formula can be used for calculation. For soft ground, the subsidence can be calculated by the spatial position, and then the Bekker subsidence formula and the Janosi shear formula are used to calculate the shear stress, as shown in the following formula:
。 .
。 .
式中为法向应力；/>为粘聚力模量；/>为摩擦力模量；/>为履带板宽度；/>为沉陷量；/>为下陷指数；/>为剪切应力；/>为阻尼系数；/>为内摩擦角；/>为剪切位移；/>为剪切力模量。通过对剪切应力的积分可以得到地面所提供的剪切力大小，此外若要考虑履刺效应，则可以通过Rankine土压力理论进行计算。通过上述分析，可以得到融合地面特性参数的履带链的高精度动力学模型。In the formula is the normal stress; /> is the cohesion modulus; /> is the friction modulus; /> is the track shoe width; /> is the amount of subsidence; /> is the sag index; /> is the shear stress; /> is the damping coefficient; /> is the internal friction angle; /> is the shear displacement; /> is the shear modulus. The magnitude of the shear force provided by the ground can be obtained by integrating the shear stress. In addition, if the creep effect is to be considered, it can be calculated by the Rankine earth pressure theory. Through the above analysis, a high-precision dynamic model of the crawler chain that incorporates ground characteristic parameters can be obtained.
在本实施例中，根据所述车身壳体动力学参数、所述履带车轮动力学参数、所述车身壳体坐标参数以及所述履带车轮坐标参数，基于刚体动力学方程，确定所述履带式车辆的车身模型，具体可以如下：In this embodiment, according to the dynamic parameters of the body shell, the dynamic parameters of the tracked wheels, the coordinate parameters of the body shell and the coordinate parameters of the track wheels, and based on the rigid body dynamics equation, the crawler The body model of the vehicle can be as follows:
基于多刚体动力学，对履带式车辆的车身动力学建模，包括壳体、主动轮、诱导轮、负重轮、支撑轮等，其中负重轮通过平衡肘悬架与车身相连接，诱导轮通过张紧装置与车身相连接，部件数目众多，故采用多刚体动力学相关知识进行求解，其方程中所用欧拉角旋转顺序与履带链建模单元中的方法相同。Based on the multi-rigid body dynamics, the body dynamics modeling of tracked vehicles, including shell, driving wheel, inducer wheel, road wheel, support wheel, etc., wherein the road wheel is connected to the body through the balance elbow suspension, and the inducer wheel through The tensioning device is connected with the vehicle body, and there are a large number of parts, so the knowledge of multi-rigid body dynamics is used to solve the problem. The Euler angle rotation sequence used in the equation is the same as that used in the track chain modeling unit.
具体的，基于多刚体动力学建立车身速度方程，可以如下：Specifically, the vehicle body velocity equation is established based on multi-rigid body dynamics, which can be as follows:
1）选取广义坐标：1) Select generalized coordinates:
。 .
其中为各部件的平动速度矢量，/>为各部件的旋转角速度矢量。in is the translation velocity vector of each component, /> is the rotational angular velocity vector of each component.
2）选取独立广义坐标：2) Select independent generalized coordinates:
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其中为车体质心的位置矢量；/>为车体质心在全局坐标系下的三个分量；/>为车体旋转欧拉角；/>为车体旋转欧拉角分量；/>2为驱动轮相对于车体的旋转角度；/>为诱导轮质心相对于车体的位移；/>为诱导轮相对于车体的旋转角度；/>为平衡肘相对于车体的旋转角度；/>为负重轮相对于平衡肘的旋转角度；/>为支撑轮相对于车体的旋转角度。in is the position vector of the center of mass of the car body; /> are the three components of the center of mass of the car body in the global coordinate system; /> Rotate Euler angles for the car body; /> is the Euler angle component of the car body rotation; /> 2 is the rotation angle of the driving wheel relative to the vehicle body; /> is the displacement of the center of mass of the inducer relative to the vehicle body; /> is the rotation angle of the inducer relative to the vehicle body; /> is the rotation angle of the balance elbow relative to the car body; /> is the rotation angle of the road wheel relative to the balance elbow; /> is the rotation angle of the support wheel relative to the vehicle body.
式中并不独立，其与上述广义坐标/>的关系为：In the formula is not independent, it is related to the above generalized coordinates /> The relationship is:
。 .
这里的为关系矩阵，根据车辆各部件之间的约束关系推导得到，对上式进行求导：here is a relationship matrix, which is derived according to the constraint relationship between the various components of the vehicle, and is derived from the above formula:
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由虚功原理可知惯性力的虚功与外力的虚功之和为0，则得：From the principle of virtual work, it can be known that the sum of the virtual work of inertial force and the virtual work of external force is 0, then:
。 .
运用虚功原理可得动力学方程：The kinetic equation can be obtained by using the principle of virtual work:
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式中，为关系矩阵，/>为广义质量矩阵，由第i个部件的质量矩阵/>和其惯性张量/>组成；/>是广义的外部作用力；/>是欧拉方程产生二次速度矢量，/>，，/>为各部件的平动速度矢量，/>为各部件的旋转角速度矢量，/>，/>为/>的导数。In the formula, is the relationship matrix, /> is the generalized mass matrix, by the mass matrix of the i-th component /> and its inertia tensor /> Composition; /> is a generalized external force; /> is the Euler equation that produces the quadratic velocity vector, /> , , /> is the translation velocity vector of each component, /> is the rotational angular velocity vector of each component, /> , /> for /> derivative of .
对于车身，它所受的外部力大部分来自履带，主要过程是地面将驱动力传递给两侧履带链，再通过一系列的轮子传递到车身。因此，车身所受的力是履带链与各个轮子之间接触力的总和。即车身的分析处理可以与履带链分析处理相类似，即通过动力学方程计算得到车身的加速度，再通过积分运算得到速度和空间位置。这样就可以得到车身的多体动力学模型。值得注意的是，在考虑外界因素时，本发明没有考虑空气阻力，需要在后续的建模过程中再进行处理。For the body, most of the external force it receives comes from the track, and the main process is that the ground transmits the driving force to the track chains on both sides, and then transmits it to the body through a series of wheels. Therefore, the force on the body is the sum of the contact forces between the track chain and the individual wheels. That is to say, the analysis and processing of the car body can be similar to the analysis and processing of the crawler chain, that is, the acceleration of the car body can be obtained by calculating the dynamic equation, and then the speed and spatial position can be obtained by the integral operation. In this way, the multi-body dynamics model of the body can be obtained. It is worth noting that when considering external factors, the present invention does not consider air resistance, which needs to be processed in the subsequent modeling process.
至此可以通过受力分析得到车身所受外部力，通过动力学方程求解出加速度，再通过积分运算得到空间位置与速度，即为车身的多体动力学模型（即车身模型）。So far, the external force on the body can be obtained through force analysis, the acceleration can be obtained through the dynamic equation, and the spatial position and velocity can be obtained through integral calculation, which is the multi-body dynamic model of the body (ie, the body model).
根据上述所述，在应用履带式车辆仿真平台的构建方法时，首先针对需要建模的履带车辆履带链部分，测量出单个履带板的质量、惯量、刚度、阻尼以及形状结构参数（如长度、宽度、高度、履带销孔的位置、大小等），再测量出装配好的履带链中各个履带板质心的空间位置与相对于水平面的角度。针对需要建模的履带车辆车体部分，测量出车身壳体的质量、惯量，负重轮、诱导轮以及支撑轮的质量、惯量、刚度、阻尼、半径以及在车身壳体上的安装位置，驱动轮的质量、惯量、刚度、阻尼、齿数、齿底圆半径、齿高、齿面宽度以及在车身壳体上的安装位置。根据上述参数可以得到广义坐标的初始值以及模型中的部分参数，采用上述搭建动力学模型的流程，即可形成针对某一特定车辆的动力学模型。结合步骤二中的积分算法即可实现该车辆的动力学仿真。According to the above, when applying the construction method of the tracked vehicle simulation platform, firstly, the mass, inertia, stiffness, damping and shape and structure parameters (such as length, Width, height, track pin hole position, size, etc.), and then measure the spatial position of the center of mass of each track shoe in the assembled track chain and the angle relative to the horizontal plane. For the body part of the tracked vehicle that needs to be modeled, measure the mass and inertia of the body shell, the mass, inertia, stiffness, damping, radius, and installation position of the road wheel, inducer wheel, and support wheel on the body shell, and drive The mass, inertia, stiffness, damping, number of teeth, bottom circle radius, tooth height, tooth surface width and installation position on the body shell of the wheel. According to the above parameters, the initial value of the generalized coordinates and some parameters in the model can be obtained, and the dynamic model for a specific vehicle can be formed by using the above process of building a dynamic model. Combined with the integral algorithm in step 2, the dynamics simulation of the vehicle can be realized.
在一些实施例中，所述动力学参数，具体可以如下：In some embodiments, the kinetic parameters may specifically be as follows:
具体的，履带板动力学参数包括：单个履带板的质量、惯量、刚度、阻尼、长度、宽度、高度、履带销孔位置和履带销孔大小。Specifically, the dynamic parameters of the track shoe include: the mass, inertia, stiffness, damping, length, width, height, track pin hole position and track pin hole size of a single track shoe.
具体的，车身壳体动力学参数包括：车身壳体的质量、惯量。Specifically, the dynamic parameters of the body shell include: mass and inertia of the body shell.
具体的，履带车轮动力学参数包括：负重轮、诱导轮以及支撑轮的质量、惯量、刚度、阻尼、半径以及在车身壳体上的安装位置；驱动轮的质量、惯量、刚度、阻尼、齿数、齿底圆半径、齿高、齿面宽度以及在车身壳体上的安装位置。Specifically, the dynamic parameters of track wheels include: the mass, inertia, stiffness, damping, radius, and installation position on the body shell of the road wheel, induction wheel, and support wheel; the mass, inertia, stiffness, damping, and number of teeth of the driving wheel , tooth bottom circle radius, tooth height, tooth surface width and installation position on the body shell.
在一些实施例中，所述空间位置坐标参数，具体可以如下：In some embodiments, the spatial location coordinate parameters may specifically be as follows:
具体的，履带板坐标参数包括：履带板的质心空间位置坐标以及所述履带板的欧拉角。Specifically, the track shoe coordinate parameters include: the space position coordinates of the center of mass of the track shoe and the Euler angle of the track shoe.
具体的，车身壳体坐标参数包括：车体质心的空间位置坐标。Specifically, the body shell coordinate parameters include: the spatial position coordinates of the center of mass of the car body.
具体的，履带车轮坐标参数包括：负重轮、诱导轮、支撑轮和驱动轮的质心空间位置坐标。Specifically, the track wheel coordinate parameters include: the center-of-mass spatial position coordinates of the road wheels, idler wheels, support wheels, and drive wheels.
在本实施例中，根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆模型的加速度以及下一时刻所述履带式车辆模型的速度和空间位置，具体计算可以如下：In this embodiment, according to the crawler chain model and the vehicle body model, the acceleration of the crawler vehicle model at the target moment and the speed and spatial position of the crawler vehicle model at the next moment are determined, and the specific calculation can be as follows:
根据建立履带链速度方程和车身速度方程的过程，编写支持矢量化运算的仿真代码（本文中履带链速度方程和车身速度方程为履带链模型和车身模型）。According to the process of establishing the speed equation of the track chain and the body speed equation, write the simulation code that supports vectorized operations (the speed equation of the track chain and the body speed equation in this paper are the model of the track chain and the body model).
基于履带式车辆模型中的履带链模型和车身模型，选取相应的软件（如Matlab，Visual Studio等）开发相关代码，其求解计算步骤如附图3所示，首先确定广义坐标，输入初始值，然后根据当前时刻的空间位置、速度计算出当前时刻两侧履带链与车身主动轮、诱导轮、负重轮、支撑轮接触点的渗透率以及接触点法向相对速度，以及履带板与地面的接触点的渗透率以及接触点法向相对速度或是沉陷量；之后通过接触力模型以及履地接触模型计算出两侧履带链与车身所受外部力；将两侧履带链与车身所受外部力以及空间位置、速度一起代入履带链速度方程和车身速度方程，得到加速度；最后运用Runge-Kutta进行积分得到下一时刻的速度与空间位置；将计算结果回代，即可进行下一时刻的计算。Based on the track chain model and body model in the tracked vehicle model, select the corresponding software (such as Matlab, Visual Studio, etc.) to develop relevant codes. The calculation steps are shown in Figure 3. First, determine the generalized coordinates and input the initial value. Then, according to the spatial position and speed at the current moment, the permeability of the contact points between the track chains on both sides and the driving wheels, induction wheels, road wheels, and support wheels of the vehicle body, the normal relative speed of the contact points, and the contact between the track shoes and the ground are calculated. The permeability of the point and the normal relative velocity of the contact point or the subsidence amount; then the external force on the track chain and the body on both sides is calculated through the contact force model and the track contact model; the external force on the track chain and the body on both sides Together with the space position and speed, they are substituted into the crawler chain velocity equation and the vehicle body velocity equation to obtain the acceleration; finally, Runge-Kutta is used to integrate to obtain the speed and space position at the next moment; the calculation result can be calculated at the next moment .
通过上述步骤可以得到履带式车辆的高精度动力学模型仿真代码。在现有软件（如ADAMS，Recurdyn等）中搭建相同的履带车辆模型，将上述仿真代码的计算结果与商业软件计算结果相对比，验证所搭建模型的正确性。Through the above steps, the simulation code of the high-precision dynamic model of the tracked vehicle can be obtained. Build the same tracked vehicle model in existing software (such as ADAMS, Recurdyn, etc.), compare the calculation results of the above simulation code with the calculation results of commercial software, and verify the correctness of the built model.
然后，针对上述编写出的代码，以提升计算效率与求解精度为目标进行优化迭代。Then, based on the code written above, optimization iterations are carried out with the goal of improving computational efficiency and solution accuracy.
具体的，针对开发的动力学模型代码，以提升计算效率为目标，对代码进行优化迭代，主要考虑以下几个方面：Specifically, for the developed dynamic model code, with the goal of improving computational efficiency, the code is optimized and iterated, mainly considering the following aspects:
（1）计算过程初步采用的积分算法为Runge-Kutta法，在某些工况下，该积分方法并不能很好的适用，需要协调计算效率与计算精度对积分方法进行改进（如变步长积分），以提高计算效率与计算精度。(1) The integral algorithm initially used in the calculation process is the Runge-Kutta method. In some working conditions, this integral method is not well applicable, and it is necessary to coordinate the calculation efficiency and calculation accuracy to improve the integral method (such as variable step size Integral) to improve calculation efficiency and calculation accuracy.
（2）履带链速度方程和车身速度方程中，推导的动力学微分方程的系数矩阵阶数较大，而矩阵中含有大量的0元素，求解时对该系数矩阵进行稀疏化处理，以提高计算机求解效率。(2) In the speed equation of the crawler chain and the speed equation of the vehicle body, the order of the coefficient matrix of the derived dynamic differential equation is relatively large, and the matrix contains a large number of 0 elements. When solving, the coefficient matrix is sparsely processed to improve the performance of the computer. Solve for efficiency.
（3）模型计算过程中，为了得到更高的精度，部分代码求解耗时长，考虑通过图表搜索等方式简化相关计算过程，以达到平衡求解效率与计算精度的目的，例如在求解履地接触切向力时，由于力与相关参数的变化是复杂的非线性函数，准确求解需要较长的时间，可提前通过实验测量出力与相关参数的变化关系，做成数据表格，运行时可通过相关参数具体数值，查阅表格数据进行插值处理，直接得到最终的结果，省去了中间的计算过程，此种方法可以简化需要大量计算才能得到的数据的计算过程，一定程度上可以在保证精度的情况下缩短求解时间。(3) In the process of model calculation, in order to obtain higher accuracy, some codes take a long time to solve. Consider simplifying the relevant calculation process by means of chart search to achieve the purpose of balancing the solution efficiency and calculation accuracy. When the force is applied, since the change of the force and related parameters is a complex nonlinear function, it takes a long time to accurately solve it. The relationship between the change of the output force and the related parameters can be measured in advance through experiments, and a data table can be made, and the related parameters can be passed during operation. For specific values, consult the table data for interpolation processing, and directly obtain the final result without the intermediate calculation process. This method can simplify the calculation process of the data that requires a lot of calculations, and to a certain extent, it can guarantee accuracy. Reduce solution time.
在一些实施例中，基于虚幻引擎，对所述履带式车辆模型进行可视化展示，具体可以如下：In some embodiments, based on the Unreal Engine, the tracked vehicle model is visualized, specifically as follows:
将得出的代码与虚幻引擎结合，构建出精细化履带车辆动力学仿真平台。Combining the obtained code with Unreal Engine, a refined tracked vehicle dynamics simulation platform is constructed.
具体的，在虚幻引擎中搭建出履带车辆仿真平台的基本模型，包括车身壳体、负重轮及平衡肘、驱动轮、诱导轮、履带链等部件，并基于上述部件装配构建出完整的履带车辆模型。Specifically, the basic model of the tracked vehicle simulation platform is built in Unreal Engine, including the body shell, road wheels and balance elbows, driving wheels, induction wheels, track chains and other components, and a complete tracked vehicle is constructed based on the assembly of the above components Model.
将优化后的动力学仿真代码与上述虚幻引擎中的履带车辆模型相结合，运用虚幻引擎将仿真代码的计算结果可视化，以便使用者可以更加清晰、更加方便的查看计算结果。形成自主编写的代码计算动力学行为、搭建的虚幻引擎模型展示代码计算结果的整体框架。Combining the optimized dynamics simulation code with the above-mentioned tracked vehicle model in Unreal Engine, the Unreal Engine is used to visualize the calculation results of the simulation code, so that users can view the calculation results more clearly and conveniently. Form the self-written code to calculate the dynamic behavior, and build the Unreal Engine model to display the overall framework of the code calculation results.
结合过程中考虑用户友好性，基于Qt平台开发相应的用户界面，包括模块化部件、部件参数修改、运动过程展示、鼠标拖动模块等基础功能。开发过程中留出相应的外部数据接口，使得所开发的仿真平台可支持决策规划控制算法的测试验证，最终构建出全自主、精细化的履带车辆动力学仿真平台。Considering user-friendliness in the process, the corresponding user interface is developed based on the Qt platform, including basic functions such as modular components, component parameter modification, movement process display, and mouse dragging modules. The corresponding external data interface is reserved during the development process, so that the developed simulation platform can support the test and verification of the decision-making planning control algorithm, and finally build a fully autonomous and refined tracked vehicle dynamics simulation platform.
本发明还提供了一种精细化履带车辆仿真平台，包括：The present invention also provides a refined crawler vehicle simulation platform, comprising:
参数获取模块，用于获取履带式车辆的动力学参数以及空间位置坐标参数；所述动力学参数包括履带板动力学参数、车身壳体动力学参数以及履带车轮动力学参数；所述动力学参数用于计算所述履带式车辆的运动加速度；所述空间位置坐标参数包括履带板坐标参数、车身壳体坐标参数和履带车轮坐标参数。The parameter acquisition module is used to acquire dynamic parameters and spatial position coordinate parameters of the tracked vehicle; the dynamic parameters include track shoe dynamic parameters, vehicle body shell dynamic parameters and track wheel dynamic parameters; the dynamic parameters It is used to calculate the motion acceleration of the tracked vehicle; the space position coordinate parameters include track shoe coordinate parameters, vehicle body shell coordinate parameters and track wheel coordinate parameters.
履带链模型构建模块，用于根据所述履带板动力学参数以及所述履带板坐标参数，基于刚体动力学方程，确定所述履带式车辆的履带链模型；所述履带链模型为履带链的空间三维运动的动力学模型。The track chain model building module is used to determine the track chain model of the tracked vehicle based on the rigid body dynamics equation according to the track shoe dynamic parameters and the track shoe coordinate parameters; the track chain model is the track chain model A dynamic model of three-dimensional motion in space.
车身模型构建模块，用于根据所述车身壳体动力学参数、所述履带车轮动力学参数、所述车身壳体坐标参数以及所述履带车轮坐标参数，基于刚体动力学方程，确定所述履带式车辆的车身模型；所述车身模型为车身的空间三维运动动力学模型。a vehicle body model building module, configured to determine the crawler track based on rigid body dynamics equations according to the body shell dynamic parameters, the track wheel dynamic parameters, the body shell coordinate parameters, and the track wheel coordinate parameters The vehicle body model of the formula vehicle; the vehicle body model is a space three-dimensional motion dynamics model of the vehicle body.
模型计算模块，用于根据所述履带链模型和所述车身模型，确定目标时刻下履带式车辆模型的加速度以及下一时刻所述履带式车辆模型的速度和空间位置。The model calculation module is used to determine the acceleration of the tracked vehicle model at the target moment and the speed and spatial position of the tracked vehicle model at the next moment according to the track chain model and the vehicle body model.
可视化模块，用于基于虚幻引擎，对所述履带式车辆模型进行可视化展示。The visualization module is used for visually displaying the tracked vehicle model based on Unreal Engine.
综上所述，本发明具有以下优点：In summary, the present invention has the following advantages:
1）在履带车辆动力学建模过程中，着重考虑履带链速度方程，可以计算出每一块履带板的运动与受力，模型精细化程度高。2)车身速度方程采用多体动力学方法构建，考虑了空间三维转动，使得履带车辆可以准确分析在三维空间下复杂运动过程，模型适用性高。3)模型计算模块采用全自主编写代码，可支持后续的二次开发升级，也能够为梯度信息的获取提供重要支撑。4)对编写的代码进行了迭代优化，平衡了代码的计算效率与计算精度，在保证计算精度的前提下，计算效率更高。5)模型可视化模块将代码与虚幻引擎相关联，具有更加良好的可视化界面与人机交互接口，对使用者更加友好便捷。1) In the process of dynamic modeling of tracked vehicles, the velocity equation of the track chain is focused on, and the motion and force of each track shoe can be calculated, and the model has a high degree of refinement. 2) The velocity equation of the vehicle body is constructed by the method of multi-body dynamics, which considers the three-dimensional rotation in space, so that the tracked vehicle can accurately analyze the complex motion process in three-dimensional space, and the model has high applicability. 3) The model calculation module uses fully self-written code, which can support subsequent secondary development and upgrades, and can also provide important support for the acquisition of gradient information. 4) The written code is iteratively optimized to balance the calculation efficiency and calculation accuracy of the code. On the premise of ensuring the calculation accuracy, the calculation efficiency is higher. 5) The model visualization module associates the code with Unreal Engine, has a better visual interface and human-computer interaction interface, and is more user-friendly and convenient.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。对于实施例公开的系统而言，由于其与实施例公开的方法相对应，所以描述的比较简单，相关之处参见方法部分说明即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. As for the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and for the related information, please refer to the description of the method part.
本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处。综上所述，本说明书内容不应理解为对本发明的限制。In this paper, specific examples have been used to illustrate the principle and implementation of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; meanwhile, for those of ordinary skill in the art, according to the present invention Thoughts, there will be changes in specific implementation methods and application ranges. In summary, the contents of this specification should not be construed as limiting the present invention.
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